【正文】 so add the function of moving and lifting. Let the KUKA Robot can realize cross area to work. The mobile lifting platform mainly include: mobile chassis, rotary body, lifting pillar and overhanging modified gear. Keywords: KUKA Robot . Lifting platform , Hydraulic drive 基于庫(kù)卡機(jī)器人的移動(dòng)升降平臺(tái) 液壓傳動(dòng)部分設(shè)計(jì) III ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ 裝 ┊ ┊ ┊ ┊ ┊ 訂 ┊ ┊ ┊ ┊ ┊ 線 ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ 目 錄 第 1 章 緒論 ....................................................................................................................................................................... 1 本課題的目的和意義 ............................................................................................................................................ 1 本課題現(xiàn)有技術(shù)情況分析 ................................................................................................................................... 2 本課題應(yīng)解決的主要問(wèn)題及技術(shù)要求 ............................................................................................................ 2 第 2 章 明確液壓系統(tǒng)的設(shè)計(jì)要求 ............................................................................................................................... 3 升降平臺(tái)主機(jī)結(jié)構(gòu)與執(zhí)行機(jī)構(gòu)的布置 ............................................................................................................ 3 主機(jī)的動(dòng)作與執(zhí)行元件動(dòng)作、順序 .................................................................................................................. 3 1）直進(jìn)直退： ......................................................................................................................................................... 4 2）前進(jìn)、后退時(shí)轉(zhuǎn)向： ........................................................................................................................................ 4 3）原地轉(zhuǎn)向 方式一： .......................................................................................................................................... 4 4）原地轉(zhuǎn)向 方式二： .......................................................................................................................................... 4 5) 車(chē)身支起： .......................................................................................................................................................... 5 6) 車(chē)身放下 ： .......................................................................................................................................................... 5 7) 車(chē)輪翹起： .......................................................................................................................................................... 5 8）車(chē)身回轉(zhuǎn)： ......................................................................................................................................................... 5 9）機(jī)器人變位： ..................................................................................................................................................... 5 10）平臺(tái)上升與下降： .......................................................................................................................................... 5 主機(jī)各液壓執(zhí)行元件動(dòng)作間的要求 .................................................................................................................. 5 執(zhí)行元件的單獨(dú)運(yùn)動(dòng)要求 ： ....................................................................................................................... 5 執(zhí)行元件的協(xié)調(diào)運(yùn)動(dòng)要求： ....................................................................................................................... 6 液壓執(zhí)行元件的動(dòng)作時(shí)間與速度要求 ............................................................................................................. 6 主機(jī)主要參數(shù)： ..................................................................................................................................................... 7 工作性能方面的要求： ........................................................................................................................................ 7 第 3 章 系統(tǒng)負(fù)載分析和負(fù)載圖的編 制 ...................................................................................................................... 8 支腿油缸的負(fù)載分析： ........................................................................................................................................ 8 支腿油缸水平狀態(tài)負(fù)載分析 ....................................................................................................................... 8 支腿完全支起狀 態(tài)負(fù)載分析： .................................................................................................................. 9 支腿完全翹起狀態(tài)負(fù)載分析： ................................................................................................................. 9 負(fù)載圖： ....................................................................................................................................................... 10 基于庫(kù)卡機(jī)器人的移動(dòng)升降平臺(tái) 液壓傳動(dòng)部分設(shè)計(jì) IV ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ 裝 ┊ ┊ ┊ ┊ ┊ 訂 ┊ ┊ ┊ ┊ ┊ 線 ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ 變位油缸的負(fù)載分析： ..................................................................................................................................... 10 主油缸的負(fù)載分析： .......................................................................................................................................... 11 轉(zhuǎn)向油缸的負(fù)載分析： ..................................................................................................................................... 12 前進(jìn)液壓馬達(dá)的負(fù)載分析： ............................................................................................................................. 12 前進(jìn)液壓馬達(dá)的功率分析： ..................................................................................................................... 12 前進(jìn)液壓馬達(dá)的轉(zhuǎn)速分析： ...................................................................